engAhar Branch,Islamic Azad University, Ahar,IranJournal of Artificial Intelligence in Electrical Engineering2345-46522345-46522016-12-01415111520482Robust Control of a QuadrotorKamal Torabieng.torabi_k@yahoo.com1Alireza Ghafari Kashanighafari_azad@yahoo.com2In this paper, a robust tracking control method for automatic take-off and trajectory tracking of a quadrotor helicopter is presented. The designed controller includes two parts: a position controller and an attitude controller. The attitude controller is designed by using the sliding mode control (SMC) method to track the desired pitch and roll angles, which are the output of position controller. The position controller is also a design using SMC and the attitude controller is faster than position controller.http://jaiee.iau-ahar.ac.ir/article_520482_d8e7428233a4e9ddc67bb8a84176d7f5.pdfQuadrotor helicopterRobust controlSMCTrajectory TrackingengAhar Branch,Islamic Azad University, Ahar,IranJournal of Artificial Intelligence in Electrical Engineering2345-46522345-46522016-12-014151323520483Monitoring Pipe-Wall Corrosion Rate by Ultrasonic TechniqueBehzad Esmaeili Aghdamb.esmaeiliaghdam@gmail.com1Hossein Nasir Aghdamh nasir59@gmail.com2thickness and corrosion/erosion rate. In this thesis, a combination of signal processing techniques are used to estimate the corrosion rate estimates based on MBE. Corrosion rate is estimated based on ultrasonic pipe wall thickness data is collected over a short period of time using MBE model. This technique is based on data collected from the speedometer applied for thinning and both indicate that they were able to estimate the rate of corrosion in short periods of time and with good accuracy.http://jaiee.iau-ahar.ac.ir/article_520483_d41d8cd98f00b204e9800998ecf8427e.pdfUltrasonicPipe CorrosionModel-Based EstimationSignal processingengAhar Branch,Islamic Azad University, Ahar,IranJournal of Artificial Intelligence in Electrical Engineering2345-46522345-46522016-12-014152541520485The Design of a New Double Loop Controller For Simultaneous Adjustment of Input and Output Voltages of Single-Phase Grid-Connected InverterParisa Alipouraigoun_1147@yahoo.com1Mehdi Salimim.salimi@iauardabil.ac.ir2Although LCL filters are used widely in the grid connected inverters to reduce high-orderharmonics, such a system increases system order and therefore sustainable design of closed-loopcontroller system will be complicated. Recently, the single-loop control strategy has beensuggested for L or LC filter based grid-connected inverters. However, the use of single-loopcontrol directly in LCL filter-based inverters may cause instability. In this paper, a new doubleloopcontrol strategy is presented which includes a voltage external loop and an internal loop offilter capacitor current. The external loop controls the input voltage of the grid-connectedinverter. The internal loop improves system stability margin and removes the resonance of LCLfilter. To obtain the transfer function of system, single-phase instantaneous power theory is used.The computer simulation has proved the feasibility of the proposed controlhttp://jaiee.iau-ahar.ac.ir/article_520485_f9412f193a0a963ce64f0eca3404c845.pdfgrid-connected invertersLCL filterdouble-loop controlstate-space modelingengAhar Branch,Islamic Azad University, Ahar,IranJournal of Artificial Intelligence in Electrical Engineering2345-46522345-46522016-12-014154352520486Using an Appropriate Controller for Independent Current Control for Motoring of Force Windings of Bearing less Induction MotorNaser Olad Abdollahi Aghdamnaserolad@yahoo.com1A bearingless induction machine has combined characteristics of induction motor and magnetic bearings. Therefore, the advantages are small size and low-cost. In the magnetic suspension of the bearingless motors, suspension forces are generated based on the feedback signals of displacement sensors detecting the movement of the rotor shaft. The suspension forces are generated taking an advantage of the strong flux distribution of a revolving magnetic field in the air gap between the stator and rotor. Thus, information of the instantaneous orientation and amplitude of the revolving magnetic field is required in a controller of the bearingless motor. Therefore, vector control methods are necessary for transient conditions. For control improvement of vector control, a PID controller can be used in horizontal and vertical force paths. Radial positions x and y are detected by displacement sensors.http://jaiee.iau-ahar.ac.ir/article_520486_d3d12bb321b1820a96a44a24cf77b4a5.pdfbearingless inductionSuspensionflux distributionsensorscontrol improvementengAhar Branch,Islamic Azad University, Ahar,IranJournal of Artificial Intelligence in Electrical Engineering2345-46522345-46522016-12-014156166520488Facial expression recognition based on Local Binary PatternsSaeede Jabbarzadeh Reyhanis_jabbarzadeh@yahoo.com1Saeed Meshginimeshgini@tabrizu.ac.ir2Classical LBP such as complexity and high dimensions of feature vectors that make it necessary to apply dimension reduction processes. In this paper, we introduce an improved LBP algorithm to solve these problems that utilizes Fast PCA algorithm for reduction of vector dimensions of extracted features. In other words, proffer method (Fast PCA+LBP) is an improved LBP algorithm that is extracted from classical LBP operator. In this method, first circular neighbor operator is used for features extraction of facial expression. Then, an algorithm of Fast PCA is used for reduction of feature vector dimensions. Simulation results show that the proposed method in this paper in terms of accuracy and speed of recognition, has had a better performance compared with the same algorithm.http://jaiee.iau-ahar.ac.ir/article_520488_59ea138ca84739cde750c4bf3061eca8.pdfFacial Expression RecognitionLocal Binary PatternSupport Vector MachinePrincipal Component AnalysisLinear Discriminant AnalysisengAhar Branch,Islamic Azad University, Ahar,IranJournal of Artificial Intelligence in Electrical Engineering2345-46522345-46522016-12-014155359520489Automatic Face Recognition via Local Directional PatternsMaryam Moghaddamm.mogaddam91@yahoo.com1Saeed Meshginimeshgini@tabrizu.ac.ir2Automatic facial recognition has many potential applications in different areas of humancomputer interaction. However, they are not yet fully realized due to the lack of an effectivefacial feature descriptor. In this paper, we present a new appearance based feature descriptor,the local directional pattern (LDP), to represent facial geometry and analyze its performance inrecognition. An LDP feature is obtained by computing the edge response values in 8 directions ateach pixel and encoding them into an 8 bit binary number using the relative strength of theseedge responses. The LDP descriptor, a distribution of LDP codes within an image or imagepatch, is used to describe each image. Two well-known machine learning methods, templatematching and support vector machine, are used for classification using the ORL female facialexpression databases. Better classification accuracy shows the superiority of LDP descriptoragainst other appearance-based feature descriptors. Entropy + LDP + SVM is as an improvedalgorithm for facial recognition than previous presented methods that improves recognition rateby features extraction of images. Test results showed that Entropy + LDP + SVM, methodpresented in this paper, is fast and efficient. Innovation proposed in this paper is the use ofentropy operator before applying LDP feature extraction method. The test results showed that theapplication of this method on ORL database images causes 3 percent increases in comparisonwith not using entropy operator.http://jaiee.iau-ahar.ac.ir/article_520489_cd4633b0eef9e1545c9c34ad6fee1879.pdfFacial recognitionLocal Directional PatternSupport Vector MachineEntropyTexture ImageFeatures extraction